The present disclosures relates to finding or localizing machine readable indicia (e.g., a barcode or digital watermark) in imagery. One claim recites an apparatus comprising: memory for buffering blocks of image data, the image data having been captured with a camera and depicting a printed object; one or more processors programmed for: generating an edge orientation sensitive feature set from the image data; using a first trained classifier to determine whether the feature set includes data representing a barcode; and using N additional trained classifiers to determine an orientation angle associated with the barcode, wherein N comprises an integer greater than 3, and wherein the orientation angle is selected based on a probability metric. Of course, other claims and combinations are provided too.